Chapter 7 Steady state error analysis Test waveforms

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Chapter 7: Steady state error analysis Test waveforms for evaluating steady-state errors of position

Chapter 7: Steady state error analysis Test waveforms for evaluating steady-state errors of position control systems Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

System response to different inputs Steady-state error: a. step input; b. ramp input Control

System response to different inputs Steady-state error: a. step input; b. ramp input Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

System with: a. finite steady-state error for a step input; b. zero steady-state error

System with: a. finite steady-state error for a step input; b. zero steady-state error for step input Esteady state=(1/K)Csteady state Intuition/motivation for steady state error analysis Esteady state=0 for Csteady state 0 Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure 7. 8 Feedback control system for defining system type Control Systems Engineering, Fourth

Figure 7. 8 Feedback control system for defining system type Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Table 7. 2 Relationships between input, system type, static error constants, and steady-state errors

Table 7. 2 Relationships between input, system type, static error constants, and steady-state errors Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure 7. 10 Feedback control system for Example 7. 6 Control Systems Engineering, Fourth

Figure 7. 10 Feedback control system for Example 7. 6 Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure 7. 11 Feedback control system showing disturbance Control Systems Engineering, Fourth Edition by

Figure 7. 11 Feedback control system showing disturbance Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure 7. 12 Figure 7. 11 system rearranged to show disturbance as input and

Figure 7. 12 Figure 7. 11 system rearranged to show disturbance as input and error as output, with R(s) = 0 Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.

Figure 7. 19 Feedback control system for Examples 7. 10 and 7. 11 Control

Figure 7. 19 Feedback control system for Examples 7. 10 and 7. 11 Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright © 2004 by John Wiley & Sons. All rights reserved.